Torque sensor and method for detecting torques occurring on or in a joint of an articulated arm robot

A torque sensor (10), in particular for detecting torques occurring on or in a joint of an articulated-arm robot. The sensor has several measuring spokes (1, 2, 3, 4) that are designed to deform under the effects of torque; and several strain gauges (DR11, DR12, DR21, DR22, DR31, DR32, DR41, DR42), with two strain gauges being arranged on two opposite sides of the several measuring spokes (1, 2, 3, 4). The several strain gauges are each connected in one of at least two bridge circuits (A, B). The at least two bridge circuits (A, B) are each configured to generate a bridge voltage (Ua, Ub). By detecting and comparing differences in the bridge voltage signals (Ua, Ub) generated by the at least two bridge circuits (A, B); a reliability of the detected bridge voltage signals is determined.